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Patent Agency Ranking
公开(公告)号：US12067738B2
公开(公告)日：2024-08-20
申请号：US17472418
申请日：2021-09-10
Applicant: Waymo LLC
Inventor： Alexander Gorban , Yin Zhou, Jr. , Dragomir Anguelov , Alessandro Giulianelli
CPC classification number: G06T7/521 , G01S7/4808 , G01S17/89 , G01S17/931 , G05D1/0088 , G06T7/73 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining estimated ground truth object keypoint labels for sensor readings of objects. In one aspect, a method comprises obtaining a plurality of sets of label data for a sensor reading of an object; obtaining respective quality control data corresponding to each of the plurality of sets of label data, the respective quality control data comprising: data indicating whether the labeled location of the first object keypoint in the corresponding set of label data is accurate; and determining an estimated ground truth location for the first object keypoint in the sensor data keypoint from (i) the labeled locations that were indicated as accurate by the corresponding quality control data and (ii) not from the labeled locations that were indicated as not accurate by the corresponding quality control data.
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公开(公告)号：US20250037303A1
公开(公告)日：2025-01-30
申请号：US18614254
申请日：2024-03-22
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
IPC: G06T7/73 , G06F18/214 , G06F18/25 , G06V20/58
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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公开(公告)号：US20220156965A1
公开(公告)日：2022-05-19
申请号：US17505900
申请日：2021-10-20
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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公开(公告)号：US11967103B2
公开(公告)日：2024-04-23
申请号：US17505900
申请日：2021-10-20
Applicant: Waymo LLC
Inventor： Jingxiao Zheng , Xinwei Shi , Alexander Gorban , Junhua Mao , Andre Liang Cornman , Yang Song , Ting Liu , Ruizhongtai Qi , Yin Zhou , Congcong Li , Dragomir Anguelov
IPC: G06T7/73 , G06F18/214 , G06F18/25 , G06V20/58
CPC classification number: G06T7/73 , G06F18/214 , G06F18/251 , G06V20/58 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30196 , G06T2207/30261
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for estimating a 3-D pose of an object of interest from image and point cloud data. In one aspect, a method includes obtaining an image of an environment; obtaining a point cloud of a three-dimensional region of the environment; generating a fused representation of the image and the point cloud; and processing the fused representation using a pose estimation neural network and in accordance with current values of a plurality of pose estimation network parameters to generate a pose estimation network output that specifies, for each of multiple keypoints, a respective estimated position in the three-dimensional region of the environment.
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公开(公告)号：US20220084228A1
公开(公告)日：2022-03-17
申请号：US17472418
申请日：2021-09-10
Applicant: Waymo LLC
Inventor： Alexander Gorban , Yin Zhou, JR. , Dragomir Anguelov , Alessandro Giulianelli
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining estimated ground truth object keypoint labels for sensor readings of objects. In one aspect, a method comprises obtaining a plurality of sets of label data for a sensor reading of an object; obtaining respective quality control data corresponding to each of the plurality of sets of label data, the respective quality control data comprising: data indicating whether the labeled location of the first object keypoint in the corresponding set of label data is accurate; and determining an estimated ground truth location for the first object keypoint in the sensor data keypoint from (i) the labeled locations that were indicated as accurate by the corresponding quality control data and (ii) not from the labeled locations that were indicated as not accurate by the corresponding quality control data.
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